Mechanical design of "Omni-Ball": Spherical wheel for holonomic omnidirectional motion

Kenjiro Tadakuma; Riichiro Tadakuma

doi:10.1109/COASE.2007.4341852

Mechanical design of "Omni-Ball": Spherical wheel for holonomic omnidirectional motion

Kenjiro Tadakuma, Riichiro Tadakuma

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

20 Citations (Scopus)

Abstract

In this paper, mechanical design of a novel spherical wheel shape for a omni-directional mobile robot is presented. The wheel is used in a omnidirectional mobile robot realizing high step-climbing capability with its hemispherical wheel. Conventional Omniwheels can realize omnidirectional motion, however they have a poor step overcoming ability due to the sub-wheel small size. The proposed desing solves this drawback by means of a 4 wheeled design. "Omni-Ball" is formed by two passive rotational hemispherical wheels and one active rotational axis. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Omnidirectional vechicle with this proposed Omni-Ball mechanism was confirmed. An prototype has been developed to illustrate the concept. Motion experiments, with a test vehicle are also presented.

Original language	English
Title of host publication	Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
Pages	788-794
Number of pages	7
DOIs	https://doi.org/10.1109/COASE.2007.4341852
Publication status	Published - 2007
Externally published	Yes
Event	3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007 - Scottsdale, AZ, United States Duration: 2007 Sept 22 → 2007 Sept 25

Publication series

Name	Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007

Other

Other	3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
Country/Territory	United States
City	Scottsdale, AZ
Period	07/9/22 → 07/9/25

Keywords

Mechanical design
Omni-Ball
Omni-wheel
Omnidirectional mobility
Spherical wheel
Step-climbing

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/COASE.2007.4341852

Cite this

Tadakuma, K., & Tadakuma, R. (2007). Mechanical design of "Omni-Ball": Spherical wheel for holonomic omnidirectional motion. In Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007 (pp. 788-794). [4341852] (Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007). https://doi.org/10.1109/COASE.2007.4341852

Mechanical design of "Omni-Ball": Spherical wheel for holonomic omnidirectional motion. / Tadakuma, Kenjiro; Tadakuma, Riichiro.
Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007. 2007. p. 788-794 4341852 (Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tadakuma, K & Tadakuma, R 2007, Mechanical design of "Omni-Ball": Spherical wheel for holonomic omnidirectional motion. in Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007., 4341852, Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007, pp. 788-794, 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007, Scottsdale, AZ, United States, 07/9/22. https://doi.org/10.1109/COASE.2007.4341852

Tadakuma K, Tadakuma R. Mechanical design of "Omni-Ball": Spherical wheel for holonomic omnidirectional motion. In Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007. 2007. p. 788-794. 4341852. (Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007). doi: 10.1109/COASE.2007.4341852

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abstract = "In this paper, mechanical design of a novel spherical wheel shape for a omni-directional mobile robot is presented. The wheel is used in a omnidirectional mobile robot realizing high step-climbing capability with its hemispherical wheel. Conventional Omniwheels can realize omnidirectional motion, however they have a poor step overcoming ability due to the sub-wheel small size. The proposed desing solves this drawback by means of a 4 wheeled design. {"}Omni-Ball{"} is formed by two passive rotational hemispherical wheels and one active rotational axis. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Omnidirectional vechicle with this proposed Omni-Ball mechanism was confirmed. An prototype has been developed to illustrate the concept. Motion experiments, with a test vehicle are also presented.",

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Mechanical design of "Omni-Ball": Spherical wheel for holonomic omnidirectional motion

Abstract

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Keywords

ASJC Scopus subject areas

Access to Document

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